#include "FusionCenter_KF.h"
using namespace std;
void FusionCenter_KF::Print_z()
{
        cout<<z.r<<endl;
        cout<<z.theta<<endl;
}
void FusionCenter_KF::chatterCallback(const std_msgs::Float32::ConstPtr& msg)
{
    z.r=msg->data;
    cout<<"received:"<<z.r<<endl;
    z.theta=0;
    z.time=0.0;
}